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Such tetherless control may enable new ultraminimally invasive surgical manipulations in clinical settings. While wireless actuation offers advantages in medical applications, the challenge of providing sufficient force to magnetic needles for tissue penetration remains a barrier to practical application. Applying sufficient force for tissue penetration is required for tasks such as biopsy, suturing, cutting, drug delivery, and accessing deep\u2010seated regions of complex structures in organs such as the eye. To expand the force landscape for such magnetic surgical tools, an impact force\u2010based suture needle capable of penetrating in\u2009vitro and ex\u2009vivo samples with 3\u2010degrees\u2010of\u2010freedom (DOF) planar motion is proposed. Using custom\u2010built 14 and 25\u2009G needles, generation of 410\u2009mN penetration force is demonstrated, a 22.7\u2010fold force increase with more than 20 times smaller volume compared with similar magnetically guided needles. 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